#ifndef PHYSICS_H
#define PHYSICS_H

#define PI 3.14159265

#include "imu.h"
#include <QString>
#include <cmath>

class Physics
{	
  public:
    Physics();
    double getChannel(int);
    void update();
    double getThrusterPositions(int);
  	void run();
    
  private:
    void applyRotation(double[],double[]);
    
    void calcThrusterPositions();
    
    int timerId;
  
    double T1[3];
    double T2[3];
    double T3[3];
    
    double T1p[3];
    double T2p[3];
    double T3p[3];
    
    Imu *ftdi;
};
#endif
